Tailing arm and pipe positioning device

ABSTRACT

A tailing arm and tubular positioning device with an arm base unit, control module and an arm engaging a hydraulic power unit. A side shift assembly attaches to an opposite end of the arm and fluidly connects to the hydraulic power unit. A lower roller assembly secured to the side shift assembly and fluidly connected to the hydraulic power unit and an upper roller assembly engages the hydraulic power unit. The control module is configured to move upper and lower rollers to support a tubular and maintain contact with the tubular through a range of motion of the tubular, position the upper and lower rollers symmetrically and in snug contact with the tubular, shift the tubular longitudinally with the upper and lower rollers using roller cylinders and rotation of the arm, shift the tubular laterally with the side shifting assembly, and release the tubular.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application claims priority to and the benefit of co-pending U.S. Provisional Patent Application Ser. No. 62/329,987 filed on Apr. 29, 2016, entitled “TAILING ARM AND PIPE POSITIONING DEVICE.” This reference is hereby incorporated in its entirety.

FIELD

The present embodiment generally relates to a tailing arm and tubular positioning device.

BACKGROUND

A need exists for an automated tailing arm and pipe positioning device to be installed on a drilling rig floor and assist in the transfer of tubulars from a catwalk or V-Door ramp to the well center, and from the well center to a catwalk or V-Door ramp.

The present embodiments meet these needs.

BRIEF DESCRIPTION OF THE DRAWINGS

The detailed description will be better understood in conjunction with the accompanying drawings as follows:

FIG. 1A depicts an isometric view of a tailing arm and tubular positioning device according to one or more embodiments.

FIG. 1B depicts side view of the tailing arm and tubular positioning device according to one or more embodiments.

FIG. 1C depicts an additional side view of the tailing arm and tubular positioning device according to one or more embodiments.

FIG. 2A depicts a side shift assembly detail according to one or more embodiments.

FIG. 2B depicts an exploded view of the side shift assembly detail according to one or more embodiments.

FIG. 2C depicts a cross-sectional view of the side shift assembly detail according to one or more embodiments.

FIG. 2D depicts a top view of the side shift assembly detail according to one or more embodiments.

FIG. 3A depicts an assembled view of a lower roller assembly according to one or more embodiments.

FIG. 3B depicts an exploded view of the lower roller assembly according to one or more embodiments.

FIG. 4A shows an assembled view of an upper roller assembly according to one or more embodiments.

FIG. 4B shows an exploded view of the upper roller assembly according to one or more embodiments.

FIG. 5 is a diagram of the processor, data storage and remote control usable with the tailing arm and the tubular positioning device according to one or more embodiments.

The present embodiments are detailed below with reference to the listed Figures.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Before explaining the present apparatus in detail, it is to be understood that the apparatus is not limited to the particular embodiments and that it can be practiced or carried out in various ways.

Tubulars, which can be drill pipes, collars, or casing are stored on a pipe rack or pipe deck in single joints. The single joints can be transferred from the pipe rack to the well center to connect to the drill string or to a mousehole to makeup into stands.

In a conventional drill floor arrangement, once the pipe or tubular is assembled into stands, it is stored vertically, that is, racked in an area between the pipe rack and the well center. A corridor or alley is reserved to maintain a path between the catwalk or a V-Door ramp and well center.

In a conventional drilling operation, the transfer or pipe through the alley is with the manual use of winches and wirelines to lift and control the swing, which is also known as the “tailing” of the pipe.

The purpose of the invention is to automate or mechanize the transfer of tubulars to and from the catwalk, V-door ramp and well center or mousehole and position them for makeup or breakout with the drill string.

In embodiments, the invention can provide the following mechanical functions, namely arm rotation, roller positioning, pipe intercept, pipe support and retention and lateral pipe positioning.

In embodiments, the tailing arm and tubular positioning device can include an arm base unit fluidly connected to a hydraulic power unit. A control module can be connected to the hydraulic power unit.

In embodiments, the tailing arm and tubular positioning device can have an arm attached to the arm base unit on a first end of the arm.

In embodiments, a side shift assembly can be attached a second end of the arm and can be fluidly connected to a hydraulic power unit.

In embodiments, a lower roller assembly can be secured to the side shift assembly and fluidly connected to the hydraulic power unit. An upper roller assembly can be secured to the lower roller assembly and fluidly connected to the hydraulic power unit.

In embodiments, the control module can be configured to cause the following motions: the upper roller and the lower roller can be move into a clear position, the lower roller can be positioned to support a tubular and maintain contact with the tubular through a range of motion of the tubular, and the upper roller can be deployed to maintain control and maintain contact with the tubular on an opposite side of the tubular from the lower roller.

As the pipe is nearly vertical, the control module can position the upper roller and the lower roller symmetrically and in snug contact with the tubular, maintaining control over the tubular.

The control module can cause shifting of the tubular longitudinally with the upper roller and the lower roller using the roller cylinders and rotation of the arm.

The motion caused by the control module can be the shifting of the tubular laterally with the side shift assembly.

The control module can cause release of the tubular by releasing pressure on the upper roller and the lower roller, enabling the tubular to enter a well.

The term “data storage” as used herein refers to a non-transitory computer readable medium, such as a hard disk drive, solid state drive, flash drive, tape drive, and the like. The term “non-transitory computer readable medium” excludes any transitory signals but includes any non-transitory data storage circuitry, e.g., buffers, cache, and queues, within transceivers of transitory signals.

The term “processor” as used herein can refer to a computer, a laptop, a tablet computer, a programmable logic circuit or a plurality of processors connected together.

The term “tubular” as used herein can refer to, but is not limited to, pipe, collars, and casing.

In embodiments, the arm rotation can be coordinated with the hoisting of a top drive and retraction of elevator links to maintain a smooth level path of the lower end of the pipe from near the end of the catwalk or V-door ramp to just about the joint at well center.

In embodiments, as the pipe can be presented to the elevators by the action of the catwalk. The pipe can be initially lifted by the hoisting action. Both the upper roller and the lower roller can be rotated 90 degrees to provide a clear path for the pipe.

In operation, the rollers are initially clear of the pipe, the lower roller can be positioned to support the pipe as it leaves the catwalk and maintain contact through the range of motion of the pipe to well center. As the pipe nears vertical, there can be less contact force with the lower roller and less control. To maintain control, the upper roller can be deployed and positioned on an opposite side of the pipe from the lower roller.

In embodiments, after the upper roller is deployed and positioned and the pipe is nearly vertical both rollers can be positioned symmetrically into snug contact with the pipe. “Snug contact force” can be a pressure force of less than 100 psi each, which can range from 20 psi to 100 psi. The pipe can be fully constrained and positioned longitudinally with coordinated action of the upper roller, the lower roller and the arm rotation.

In embodiments, lateral positioning can be accomplished by the shifting of the roller assemblies constraining the pipe. When retracting the arm, the lower roller can be rotated 90 degrees to clear the pipe.

In embodiments, when operating the unit to bring pipe from the well center to the catwalk, the operations can start with bringing the arm up to the pipe with the lower roller retracted, then the deploying the lower roller and initiating clockwise rotation of the arm in coordination with lowering of a top drive.

As an example, the invention can handle drill pipe and collars with a 2 and ¾ inch diameter to 9 and ½ inch diameter with 31 foot joints to 33 foot joints. Also, as an example, the invention can handle casing with up to 20 inch diameters and 45 foot length joints.

The tailing arm and tubular positioning device can provide improved controlled transfer of drilling tubulars from a catwalk or V-door ramp to the well center or mousehole.

The tailing arm and tubular positioning device can secure the tubular and position it at well center with the precision necessary to align its lower joint with the joint of the drill string, or casing, held in the rotary for makeup by a hydraulic wrench.

Also, the tailing arm and tubular positioning device can combine the functions of controlled transfer of tubulars with positioning of tubulars.

In embodiments, the tailing arm and tubular positioning device can accomplish the controlled transfer of drilling tubulars with minimum footprint on the drill floor and minimum width occupied in the racking alley.

In embodiments, roller assemblies of the invention can be actuated by a single linear actuator, such as a hydraulic cylinder to achieve security of the tubular, positioning of the tubular and rotation of the rollers to maintain clearance from the tubular.

In embodiments, a control module can control the positioning of the art with the positions of the top drive and links.

Turning now to the Figures, FIG. 1A depicts an isometric view of a tailing arm and tubular positioning device according to one or more embodiments. FIG. 1B depicts side view of the tailing arm and tubular positioning device according to one or more embodiments. FIG. 1C depicts an additional side view of the tailing arm and tubular positioning device according to one or more embodiments.

In reference to FIGS. 1A-1C, the tailing arm and tubular positioning device 10 can have an arm base unit 20 and a base 21.

In embodiments, the arm base unit 20 can be fluidly connected to a hydraulic power unit 40. The arm base unit 20 can have a rack 22, which can be mounted to the base 21 and a pinion 23 engaging the rack, which can be mounted to the first end 51 of the arm 50. Also, the arm base unit 20 can have a floor mounting pin 25, which can engage the base 21 to a structure or foundation.

In embodiments, an arm drive hydraulic cylinder 24 can be fluidly connected to the hydraulic power unit 40. The arm drive hydraulic cylinder 24 can be connected to the rack 22 for longitudinally moving the rack 22 causing pivoting of the arm 50.

In embodiments, the arm drive hydraulic cylinder 24 can be fluidly connected to the hydraulic power unit 40 through a control module 42.

In embodiments, the arm 50 can be rotatably secured to an arm base unit 20. The arm 50 can have a first end 51 and a second end 52. The arm 50 can attach to the arm base unit 20 on the first end 51 of the arm 50. A side shift assembly 60 can attach to the second end 52 of the arm 50.

In embodiments, the side shift assembly 60 can fluidly connect to the hydraulic power unit 40. In embodiments, the side shift assembly can be attached to a roller assembly base.

In embodiments, the side shift assembly 60 can be mounted to a lower roller assembly 70 and an upper roller assembly 90. The lower roller assembly can be secured to an upper roller assembly base 91.

The lower roller assembly 70 can have a lower roller 79 and a lower roller assembly base 71. The upper roller assembly 90 can have an upper roller 99 and the upper roller assembly base 91.

In embodiments, a tubular 9 can be retained by to the upper roller assembly 90 and the lower roller assembly 70.

FIG. 2A depicts a side shift assembly detail according to one or more embodiments. FIG. 2B depicts an exploded view of the side shift assembly detail according to one or more embodiments. FIG. 2C depicts a cross-sectional view of the side shift assembly detail according to one or more embodiments. FIG. 2D depicts a top view of the side shift assembly detail according to one or more embodiments.

In reference to FIGS. 2A-2D, the side shift assembly 60 can have a projecting pin 66 mounted to a side shift assembly base 61.

In embodiments, the side shift assembly base 61 can be mounted to the lower roller assembly. A first plate 62 and a second plate 63 can be mounted on opposite sides of the side shift assembly base 61 and to the second end of the arm 50.

In embodiments, a first guide pin 64 and a second guide pin 65 can be mounted in parallel and between the first plate 62 and the second plate 63.

In embodiments, a side shift block 67 can be slidably mounted on the first guide pin 64 and the second guide pin 65 between the first plate 62 and the second plate 63 with the projecting pin 66 extending through an angled slot 68, which can be formed in the side shift block 67.

In embodiments, a side shift cylinder 69 can be mounted between the first plate 62 and the second plate 63 for moving the side shift block 67 from a first position to a second position between the first plate 62 and the second plate 63.

FIG. 3A depicts an assembled view of a lower roller assembly according to one or more embodiments. FIG. 3B depicts an exploded view of the lower roller assembly according to one or more embodiments.

Referring to FIGS. 3A-3B, the lower roller assembly can be secured to the side shift assembly with fluid connection to the hydraulic power unit.

In embodiments, the lower roller assembly 70 can have a lower guide tube 72, which can be mounted to the side shift assembly base. A lower guide end cover 110 can cover an end of the lower guide tube 72. The lower guide tube 72 can have a lower guide slot 73, which can engage a lower guide pin 74. The lower guide tube 72 can be secured to the roller assembly base.

In embodiments, the lower roller assembly 70 can have a lower inner tube 75, which can be slidably and rotatably mounted within and extending from the lower guide tube 72. The lower inner tube 75 can be connected to the lower guide pin 74 enabling controlled lower inner tube movement using the lower guide slot 73.

In embodiments, the lower roller assembly 70 can have a lower hydraulic cylinder with rod 76 that can be fluidly connected to the hydraulic power unit 40. The lower hydraulic cylinder with rod 76 can be mounted within the lower inner tube 75 for extending and rotating the lower guide tube 72. In embodiments, the lower hydraulic cylinder with rod 76 can be fluidly connected to the hydraulic power unit.

In embodiments, the lower roller assembly 70 can have a lower shaft 77 extending from the lower inner tube 75 at a first angle 78. The lower roller 79 can be rotatably connected to the lower shaft 77. The first angle 78 can be an angle from 80 degrees to 100 degrees.

In embodiments, the lower roller 79 can include a lower roller capture plate 150 for preventing a captured tubular from rolling off the lower roller.

FIG. 4A shows an assembled view of an upper roller assembly according to one or more embodiments. FIG. 4B shows an exploded view of the upper roller assembly according to one or more embodiments.

Referring to FIGS. 4A-4B, the upper roller assembly 90 can be secured to the lower roller assembly and fluidly connected to the hydraulic power unit.

In embodiments, the upper roller assembly 90 can have an upper guide tube 92 with an upper guide slot 93, which can engage an upper guide pin 94. The upper guide tube 92 can be secured to the upper roller assembly base. An upper guide end cover 210 can cover an end of the upper guide tube 92.

In embodiments, an upper inner tube 95 can be rotatably and slidably mounted within and extending from the upper guide tube 92. The upper inner tube 95 can be connected to the upper guide pin 94 enabling controlled upper inner tube movement using the upper guide slot 93.

In embodiments, an upper hydraulic cylinder with rod 96 can be fluidly connected to the hydraulic power unit. The upper hydraulic cylinder with rod 96 can be mounted within the upper inner tube 95 for extending and rotating the upper guide tube 92.

In embodiments, an upper shaft 97 can extend from the upper inner tube 95 at a second angle 98. The second angle 98 can be an angle from 80 degrees to 100 degrees.

In embodiments, the upper roller 99 can be rotatably connected to the upper shaft 97. The upper roller 99 can include an upper roller capture plate 151 for preventing a captured tubular from rolling off the upper roller.

FIG. 5 is a diagram of the processor, data storage and remote control usable with the tailing arm and the tubular positioning device according to one or more embodiments.

In embodiments, the control module 42 can include a processor 44 and a data storage 46, wherein the processor can be configured to communicate with a network 203.

In embodiments, the data storage 46 can contain computer instructions 100 configured to instruct the processor 44 to hydraulically control arm rotation using the arm base unit.

In embodiments, the data storage 46 can contain computer instructions 102 configured to instruct the processor to hydraulically control the upper roller and the lower roller lateral position using the side shift assembly.

In embodiments, the data storage 46 can contain computer instructions 104 configured to instruct the processor to hydraulically control the upper roller orientation from a clear to capture position and a snug position.

In embodiments, the data storage 46 can contain computer instructions 106 configured to instruct the processor to hydraulically control the lower roller orientation from a clear to capture position and a snug position.

In embodiments, the tailing arm and tubular positioning device can communicate to a client device 200, which can operate as a remote control to the control module.

The client device can have a client device processor 202 connected to a network 203 and a client device data storage 204 with computer instructions 1000 to instruct the client device processor 202 to operate at least one of a plurality of control modules simultaneously.

In embodiments, the control module 42 can be configured to cause the following motions, which can be in sequence; move the upper and lower rollers into a clear position; position the lower roller to support a tubular and maintain contact with the tubular through a range of motion of the tubular; as the pipe nears vertical deploy to maintain control, the upper roller contacts the tubular on an opposite side of the tubular from the lower roller; as the pipe is nearly vertical, position the upper and lower rollers symmetrically and in snug contact with the tubular, maintaining control over the tubular; shift the tubular longitudinally with the upper and lower rollers using the roller cylinders and rotation of the arm; shift the tubular laterally with the side shift assembly; and release the tubular by releasing pressure on the upper and lower rollers enabling the tubular to be assembled to the drill string and enter a well.

In embodiments, the control module can hydraulically control: arm rotation using the arm base unit; tubular position using the side shift assembly; upper roller orientation from a clear to capture position and a snug position; and lower roller orientation from a clear to capture position and a snug position.

In embodiments, the tailing arm and tubular positioning device can have the upper roller assembly mounted in a minor image to the lower roller assembly with the upper and lower rollers initially positioned in parallel to each other and configured to extend from a same side of the arm when in a tubular capture configuration.

In embodiments, each upper and lower inner tube of each upper and lower roller assemblies slide in each upper and lower guide tubes from a retracted configuration to an extended configuration with each guide pin projecting through each guide slot.

While these embodiments have been described with emphasis on the embodiments, it should be understood that within the scope of the appended claims, the embodiments might be practiced other than as specifically described herein. 

What is claimed is:
 1. A tailing arm and tubular positioning device comprising: a. an arm base unit fluidly connected to a hydraulic power unit; b. a control module connected to the hydraulic power unit; c. an arm attached to the arm base unit on a first end of the arm; d. a side shift assembly having a side shift assembly base attached to a second end of the arm and fluidly connected to the hydraulic power unit; e. a lower roller assembly with a lower roller secured to the side shift assembly and fluidly connected to the hydraulic power unit; f. an upper roller assembly with an upper roller secured to the lower roller assembly and fluidly connected to the hydraulic power unit; and g. the control module is configured to cause the following motions in sequence: (i) move the upper roller and the lower roller into a clear position; (ii) position the lower roller to support a tubular and maintain contact with the tubular through a range of motion of the tubular; (iii) as the pipe nears vertical deploy to maintain control, the upper roller contacts the tubular on an opposite side of the tubular from the lower roller; (iv) as the pipe is nearly vertical, position the upper roller and the lower roller symmetrically and in a snug contact with the tubular, maintaining control over the tubular; (v) shift the tubular longitudinally with the upper roller and the lower roller using an upper hydraulic cylinder with rod and a lower roller cylinder with rod and rotation of the arm; (vi) shift the tubular laterally with the side shift assembly; and (vii) release the tubular by releasing pressure on the upper roller and the lower roller enabling the tubular to be assembled to a drill string and enter a well.
 2. The tailing arm and tubular positioning device of claim 1, wherein the arm base unit comprises: a. a base; b. a rack mounted to the base; c. a pinion engaging the rack mounted to the first end of the arm; and d. an arm drive hydraulic cylinder fluidly connected to the hydraulic power unit, the arm drive hydraulic cylinder connected to the rack for longitudinally moving the rack causing pivoting of the arm.
 3. The tailing arm and tubular positioning device of claim 1, wherein the side shift assembly comprises: a. a side shift assembly base mounted to the lower roller assembly; b. a first plate and a second plate mounted on opposite sides of the side shift assembly base and to the second end of the arm; c. a first guide pin and a second guide pin mounted in parallel and between the first plate and the second plate; d. a projecting pin mounted to the side shift assembly base; e. a side shift block slidably mounted on the first guide pin and the second guide pin between the first plate and the second plate with the projecting pin extending through an angled slot formed in the side shift block; and f. a side shift cylinder fluidly connected to the hydraulic power unit mounted between the first plate and the second plate for moving the side shift block from a first position to a second position between the first plate and the second plate.
 4. The tailing arm and tubular positioning device of claim 1, wherein the control module hydraulically controls: a. arm rotation using the arm base unit; b. tubular position using the side shift assembly; c. upper roller orientation from a clear to capture position and a snug position; and d. lower roller orientation from a clear to capture position and a snug position.
 5. The tailing arm and tubular positioning device of claim 4, wherein the control module comprises a processor and a data storage, the data storage comprising: a. computer instructions to instruct the processor to hydraulically control arm rotation using the arm base unit; b. computer instructions to instruct the processor to hydraulically control the upper roller and the lower roller lateral position using the side shift assembly; c. computer instructions to instruct the processor to hydraulically control the upper roller orientation from the clear to capture position and the snug position; and d. computer instructions to instruct the processor to hydraulically control the lower roller orientation from the clear to capture position and the snug position.
 6. The tailing arm and tubular positioning device of claim 5, comprising a client device operating as a remote control to the control module, the client device comprising a client device processor connected to a network and a client device data storage with computer instructions to instruct the client device processor to operate at least one of a plurality of control modules simultaneously.
 7. The tailing arm and tubular positioning device of claim 1, wherein the lower roller assembly comprises: a. a roller assembly base attached to the side shift assembly; b. a lower guide tube comprising a lower guide slot engaging a lower guide pin, wherein the lower guide tube is secured to the roller assembly base; c. a lower inner tube rotatably and slidably mounted within and extending from the lower guide tube, the lower inner tube connected to the lower guide pin enabling controlled lower inner tube movement using the lower guide slot; d. the lower hydraulic cylinder with rod fluidly connected to the hydraulic power unit, the lower hydraulic cylinder with rod mounted within the lower inner tube for extending and rotating the lower guide tube; e. a lower shaft extending from the lower inner tube at a first angle; and f. the lower roller rotatably connected to the lower shaft.
 8. The tailing arm and tubular positioning device of claim 1, wherein the upper roller assembly comprises: a. an upper roller assembly base secured to the lower roller assembly; b. an upper guide tube comprising an upper guide slot engaging an upper guide pin, wherein the upper guide tube secured to the upper roller assembly base; c. an upper inner tube rotatably mounted within and extending from the upper guide tube, the upper inner tube connected to the upper guide pin enabling controlled upper inner tube movement using the upper guide slot; d. the upper hydraulic cylinder with rod fluidly connected to the hydraulic power unit, the upper hydraulic cylinder with rod mounted within the upper inner tube for extending and rotating the upper guide tube; e. an upper shaft extending from the upper inner tube at a second angle; and f. the upper roller rotatably connected to the upper shaft.
 9. The tailing arm and tubular positioning device of claim 1, wherein the arm base unit comprises a floor mounting pin for engaging the base to a structure or a foundation.
 10. The tailing arm and tubular positioning device of claim 8, wherein the upper roller assembly is mounted in a mirror image to the lower roller assembly with the upper roller and the lower roller initially positioned in parallel in an essentially vertical plane to each other and configured to extend essentially horizontally from a same side of the arm when in a tubular capture configuration.
 11. The tailing arm and tubular positioning device of claim 10, wherein the upper inner tube and the lower inner tube slides in the upper guide tube and the lower guide tube from a retracted configuration to an extended configuration with the upper guide pin and the lower guide pin projecting through the upper guide slot and the lower guide slot.
 12. The tailing arm and tubular positioning device of claim 7, wherein the first angle is an angle from 80 degrees to 100 degrees and the lower roller assembly comprises a lower roller capture plate for preventing a captured tubular from rolling off the lower roller.
 13. The tailing arm and tubular positioning device of claim 8, wherein the second angle is an angle from 80 degrees to 100 degrees and the upper roller assembly comprises an upper roller capture plate for preventing a captured tubular from roller off the upper roller. 